# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Mission Summary: # Route File: 20060405test1.rte # Mission File: 20060405test1.cfg # Distance: 6899.327515 (m) # Estimated Time: 6544 (s) 1.818 (hr) # Abort Time: 8508 (s) # Way Points: 2 # Route Points: 112 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 25 (m) # Maximum Vehicle Depth: 450 (m) # Abort Vehicle Depth: 500 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 200 (m) # Waypoint Spacing: 50 (m) # GPS Duration: 600 (s) # Ascend Rate: 0.5 (m/s) # Descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.849586 36.774745 -59.279210 0.000000 1 # 1 -121.855225 36.836767 -56.003347 6899.327515 1 # # A total of 112 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 6899.327515 #define MISSION_TIME 6544 #define MISSION_TIMEOUT 8508 #define DEPTH_MAX 450.000000 #define DEPTH_ABORT 500.000000 #define ALTITUDE_DESIRED 50.000000 #define ALTITUDE_MIN 30.000000 #define ALTITUDE_ABORT 20.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 30 #define ASCENDRUDDER 5.000000 #define ASCENDPITCH 20.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDPITCH -15.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint behavior to get to end of line 1 # Segment length 53.998473 meters # Minimum depth: 56.003347 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 6.003347 meters set by local depth and desired altitude behavior waypoint { latitude = 36.836767; longitude = -121.855225; captureRadius = 10; duration = 53; depth = 6.003347; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50 # Altitude Set: 50 # Vehicle Depth:6.003347 # Seafloor Depth:-56.003347 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305928 meters # Minimum depth: 56.003347 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 6.003347 meters set by local depth and desired altitude behavior waypoint { latitude = 36.836282; longitude = -121.855181; captureRadius = 10; duration = 62; depth = 6.003347; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.346164 # Altitude Set: 51.346164 # Vehicle Depth:6.003347 # Seafloor Depth:-57.349511 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.23; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 123.23; MB_Bottom_Detect_Filter_Min_Depth = 25.67; MB_Bottom_Detect_Filter_Max_Depth = 123.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305926 meters # Minimum depth: 56.003347 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 6.003347 meters set by local depth and desired altitude behavior waypoint { latitude = 36.835722; longitude = -121.855130; captureRadius = 10; duration = 62; depth = 6.003347; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.984998 # Altitude Set: 52.984998 # Vehicle Depth:6.003347 # Seafloor Depth:-58.988345 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.16; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.49; MB_Bottom_Detect_Filter_Max_Range = 127.16; MB_Bottom_Detect_Filter_Min_Depth = 26.49; MB_Bottom_Detect_Filter_Max_Depth = 127.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305923 meters # Minimum depth: 57.043947 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 7.043947 meters set by local depth and desired altitude behavior waypoint { latitude = 36.835162; longitude = -121.855079; captureRadius = 10; duration = 62; depth = 7.043947; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.840651 # Altitude Set: 53.840651 # Vehicle Depth:7.043947 # Seafloor Depth:-60.884598 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.22; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 129.22; MB_Bottom_Detect_Filter_Min_Depth = 26.92; MB_Bottom_Detect_Filter_Max_Depth = 129.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305920 meters # Minimum depth: 58.864570 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 8.864570 meters set by local depth and desired altitude behavior waypoint { latitude = 36.834602; longitude = -121.855028; captureRadius = 10; duration = 62; depth = 8.864570; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.840651 # Altitude Set: 53.840651 # Vehicle Depth:8.86457 # Seafloor Depth:-62.652348 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.22; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 129.22; MB_Bottom_Detect_Filter_Min_Depth = 26.92; MB_Bottom_Detect_Filter_Max_Depth = 129.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305918 meters # Minimum depth: 60.451725 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 10.451725 meters set by local depth and desired altitude behavior waypoint { latitude = 36.834042; longitude = -121.854977; captureRadius = 10; duration = 62; depth = 10.451725; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.957021 # Altitude Set: 53.957021 # Vehicle Depth:10.451725 # Seafloor Depth:-64.408746 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.50; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.98; MB_Bottom_Detect_Filter_Max_Range = 129.50; MB_Bottom_Detect_Filter_Min_Depth = 26.98; MB_Bottom_Detect_Filter_Max_Depth = 129.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305915 meters # Minimum depth: 62.382526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 12.382526 meters set by local depth and desired altitude behavior waypoint { latitude = 36.833481; longitude = -121.854926; captureRadius = 10; duration = 62; depth = 12.382526; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.957021 # Altitude Set: 53.957021 # Vehicle Depth:12.382526 # Seafloor Depth:-66.067024 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.50; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.98; MB_Bottom_Detect_Filter_Max_Range = 129.50; MB_Bottom_Detect_Filter_Min_Depth = 26.98; MB_Bottom_Detect_Filter_Max_Depth = 129.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305912 meters # Minimum depth: 64.059931 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 14.059931 meters set by local depth and desired altitude behavior waypoint { latitude = 36.832921; longitude = -121.854875; captureRadius = 10; duration = 62; depth = 14.059931; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.155283 # Altitude Set: 54.155283 # Vehicle Depth:14.059931 # Seafloor Depth:-68.215214 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.97; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.08; MB_Bottom_Detect_Filter_Max_Range = 129.97; MB_Bottom_Detect_Filter_Min_Depth = 27.08; MB_Bottom_Detect_Filter_Max_Depth = 129.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305910 meters # Minimum depth: 65.944886 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 15.944886 meters set by local depth and desired altitude behavior waypoint { latitude = 36.832361; longitude = -121.854824; captureRadius = 10; duration = 62; depth = 15.944886; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.155283 # Altitude Set: 54.155283 # Vehicle Depth:15.944886 # Seafloor Depth:-70.044411 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.97; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.08; MB_Bottom_Detect_Filter_Max_Range = 129.97; MB_Bottom_Detect_Filter_Min_Depth = 27.08; MB_Bottom_Detect_Filter_Max_Depth = 129.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305907 meters # Minimum depth: 67.903511 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 17.903511 meters set by local depth and desired altitude behavior waypoint { latitude = 36.831801; longitude = -121.854773; captureRadius = 10; duration = 62; depth = 17.903511; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.246321 # Altitude Set: 54.246321 # Vehicle Depth:17.903511 # Seafloor Depth:-72.149832 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 130.19; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.12; MB_Bottom_Detect_Filter_Max_Range = 130.19; MB_Bottom_Detect_Filter_Min_Depth = 27.12; MB_Bottom_Detect_Filter_Max_Depth = 130.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305905 meters # Minimum depth: 69.884716 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 19.884716 meters set by local depth and desired altitude behavior waypoint { latitude = 36.831241; longitude = -121.854722; captureRadius = 10; duration = 62; depth = 19.884716; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.652202 # Altitude Set: 54.652202 # Vehicle Depth:19.884716 # Seafloor Depth:-74.536918 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.17; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.33; MB_Bottom_Detect_Filter_Max_Range = 131.17; MB_Bottom_Detect_Filter_Min_Depth = 27.33; MB_Bottom_Detect_Filter_Max_Depth = 131.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305902 meters # Minimum depth: 71.912616 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 21.912616 meters set by local depth and desired altitude behavior waypoint { latitude = 36.830681; longitude = -121.854671; captureRadius = 10; duration = 62; depth = 21.912616; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.756684 # Altitude Set: 54.756684 # Vehicle Depth:21.912616 # Seafloor Depth:-76.669300 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.42; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.38; MB_Bottom_Detect_Filter_Max_Range = 131.42; MB_Bottom_Detect_Filter_Min_Depth = 27.38; MB_Bottom_Detect_Filter_Max_Depth = 131.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305899 meters # Minimum depth: 74.031404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 24.031404 meters set by local depth and desired altitude behavior waypoint { latitude = 36.830121; longitude = -121.854620; captureRadius = 10; duration = 62; depth = 24.031404; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.756684 # Altitude Set: 54.756684 # Vehicle Depth:24.031404 # Seafloor Depth:-78.636145 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.42; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.38; MB_Bottom_Detect_Filter_Max_Range = 131.42; MB_Bottom_Detect_Filter_Min_Depth = 27.38; MB_Bottom_Detect_Filter_Max_Depth = 131.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305897 meters # Minimum depth: 76.152507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 26.152507 meters set by local depth and desired altitude behavior waypoint { latitude = 36.829561; longitude = -121.854570; captureRadius = 10; duration = 62; depth = 26.152507; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.739157 # Altitude Set: 54.739157 # Vehicle Depth:26.152507 # Seafloor Depth:-80.891664 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.37; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.37; MB_Bottom_Detect_Filter_Max_Range = 131.37; MB_Bottom_Detect_Filter_Min_Depth = 27.37; MB_Bottom_Detect_Filter_Max_Depth = 131.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305894 meters # Minimum depth: 78.162388 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 28.162388 meters set by local depth and desired altitude behavior waypoint { latitude = 36.829001; longitude = -121.854519; captureRadius = 10; duration = 62; depth = 28.162388; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.312686 # Altitude Set: 55.312686 # Vehicle Depth:28.162388 # Seafloor Depth:-83.475074 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.75; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.66; MB_Bottom_Detect_Filter_Max_Range = 132.75; MB_Bottom_Detect_Filter_Min_Depth = 27.66; MB_Bottom_Detect_Filter_Max_Depth = 132.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305892 meters # Minimum depth: 80.605423 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 30.605423 meters set by local depth and desired altitude behavior waypoint { latitude = 36.828440; longitude = -121.854468; captureRadius = 10; duration = 62; depth = 30.605423; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.953584 # Altitude Set: 55.953584 # Vehicle Depth:30.605423 # Seafloor Depth:-86.559007 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.29; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.98; MB_Bottom_Detect_Filter_Max_Range = 134.29; MB_Bottom_Detect_Filter_Min_Depth = 27.98; MB_Bottom_Detect_Filter_Max_Depth = 134.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305889 meters # Minimum depth: 83.034786 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 33.034786 meters set by local depth and desired altitude behavior waypoint { latitude = 36.827880; longitude = -121.854417; captureRadius = 10; duration = 62; depth = 33.034786; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.082988 # Altitude Set: 56.082988 # Vehicle Depth:33.034786 # Seafloor Depth:-89.117774 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.60; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.04; MB_Bottom_Detect_Filter_Max_Range = 134.60; MB_Bottom_Detect_Filter_Min_Depth = 28.04; MB_Bottom_Detect_Filter_Max_Depth = 134.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305886 meters # Minimum depth: 85.612572 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 35.612572 meters set by local depth and desired altitude behavior waypoint { latitude = 36.827320; longitude = -121.854366; captureRadius = 10; duration = 62; depth = 35.612572; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.750709 # Altitude Set: 56.750709 # Vehicle Depth:35.612572 # Seafloor Depth:-92.363281 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.20; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.38; MB_Bottom_Detect_Filter_Max_Range = 136.20; MB_Bottom_Detect_Filter_Min_Depth = 28.38; MB_Bottom_Detect_Filter_Max_Depth = 136.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305884 meters # Minimum depth: 88.576901 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 38.576901 meters set by local depth and desired altitude behavior waypoint { latitude = 36.826760; longitude = -121.854315; captureRadius = 10; duration = 62; depth = 38.576901; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.750709 # Altitude Set: 56.750709 # Vehicle Depth:38.576901 # Seafloor Depth:-95.218201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.20; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.38; MB_Bottom_Detect_Filter_Max_Range = 136.20; MB_Bottom_Detect_Filter_Min_Depth = 28.38; MB_Bottom_Detect_Filter_Max_Depth = 136.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305881 meters # Minimum depth: 91.472497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.472497 meters set by local depth and desired altitude behavior waypoint { latitude = 36.826200; longitude = -121.854264; captureRadius = 10; duration = 62; depth = 41.472497; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.395356 # Altitude Set: 58.395356 # Vehicle Depth:41.472497 # Seafloor Depth:-99.867853 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 140.15; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.20; MB_Bottom_Detect_Filter_Max_Range = 140.15; MB_Bottom_Detect_Filter_Min_Depth = 29.20; MB_Bottom_Detect_Filter_Max_Depth = 140.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305878 meters # Minimum depth: 94.951737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.951737 meters set by local depth and desired altitude behavior waypoint { latitude = 36.825640; longitude = -121.854213; captureRadius = 10; duration = 62; depth = 44.951737; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.395356 # Altitude Set: 58.395356 # Vehicle Depth:44.951737 # Seafloor Depth:-102.919748 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 140.15; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.20; MB_Bottom_Detect_Filter_Max_Range = 140.15; MB_Bottom_Detect_Filter_Min_Depth = 29.20; MB_Bottom_Detect_Filter_Max_Depth = 140.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305876 meters # Minimum depth: 98.717066 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.717066 meters set by local depth and desired altitude behavior waypoint { latitude = 36.825080; longitude = -121.854162; captureRadius = 10; duration = 62; depth = 48.717066; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.968011 # Altitude Set: 57.968011 # Vehicle Depth:48.717066 # Seafloor Depth:-106.531321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 139.12; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.98; MB_Bottom_Detect_Filter_Max_Range = 139.12; MB_Bottom_Detect_Filter_Min_Depth = 28.98; MB_Bottom_Detect_Filter_Max_Depth = 139.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305874 meters # Minimum depth: 102.058544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.058544 meters set by local depth and desired altitude behavior waypoint { latitude = 36.824520; longitude = -121.854111; captureRadius = 10; duration = 62; depth = 52.058544; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.949796 # Altitude Set: 57.949796 # Vehicle Depth:52.058544 # Seafloor Depth:-110.008340 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 139.08; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.97; MB_Bottom_Detect_Filter_Max_Range = 139.08; MB_Bottom_Detect_Filter_Min_Depth = 28.97; MB_Bottom_Detect_Filter_Max_Depth = 139.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305870 meters # Minimum depth: 105.438733 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.438733 meters set by local depth and desired altitude behavior waypoint { latitude = 36.823960; longitude = -121.854060; captureRadius = 10; duration = 62; depth = 55.438733; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.024178 # Altitude Set: 59.024178 # Vehicle Depth:55.438733 # Seafloor Depth:-114.462911 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 141.66; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.51; MB_Bottom_Detect_Filter_Max_Range = 141.66; MB_Bottom_Detect_Filter_Min_Depth = 29.51; MB_Bottom_Detect_Filter_Max_Depth = 141.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305869 meters # Minimum depth: 109.316299 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.316299 meters set by local depth and desired altitude behavior waypoint { latitude = 36.823400; longitude = -121.854009; captureRadius = 10; duration = 62; depth = 59.316299; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.103291 # Altitude Set: 59.103291 # Vehicle Depth:59.316299 # Seafloor Depth:-118.419590 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 141.85; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.55; MB_Bottom_Detect_Filter_Max_Range = 141.85; MB_Bottom_Detect_Filter_Min_Depth = 29.55; MB_Bottom_Detect_Filter_Max_Depth = 141.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305865 meters # Minimum depth: 113.304796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.304796 meters set by local depth and desired altitude behavior waypoint { latitude = 36.822839; longitude = -121.853959; captureRadius = 10; duration = 62; depth = 63.304796; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.778585 # Altitude Set: 59.778585 # Vehicle Depth:63.304796 # Seafloor Depth:-123.083381 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 143.47; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.89; MB_Bottom_Detect_Filter_Max_Range = 143.47; MB_Bottom_Detect_Filter_Min_Depth = 29.89; MB_Bottom_Detect_Filter_Max_Depth = 143.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305863 meters # Minimum depth: 117.782650 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.782650 meters set by local depth and desired altitude behavior waypoint { latitude = 36.822279; longitude = -121.853908; captureRadius = 10; duration = 62; depth = 67.782650; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.924915 # Altitude Set: 59.924915 # Vehicle Depth:67.78265 # Seafloor Depth:-127.707565 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 143.82; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.96; MB_Bottom_Detect_Filter_Max_Range = 143.82; MB_Bottom_Detect_Filter_Min_Depth = 29.96; MB_Bottom_Detect_Filter_Max_Depth = 143.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305860 meters # Minimum depth: 122.234231 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.234231 meters set by local depth and desired altitude behavior waypoint { latitude = 36.821719; longitude = -121.853857; captureRadius = 10; duration = 62; depth = 72.234231; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.924915 # Altitude Set: 59.924915 # Vehicle Depth:72.234231 # Seafloor Depth:-130.932478 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 143.82; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.96; MB_Bottom_Detect_Filter_Max_Range = 143.82; MB_Bottom_Detect_Filter_Min_Depth = 29.96; MB_Bottom_Detect_Filter_Max_Depth = 143.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305858 meters # Minimum depth: 126.734795 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.734795 meters set by local depth and desired altitude behavior waypoint { latitude = 36.821159; longitude = -121.853806; captureRadius = 10; duration = 62; depth = 76.734795; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.698247 # Altitude Set: 58.698247 # Vehicle Depth:76.734795 # Seafloor Depth:-133.817703 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 140.88; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.35; MB_Bottom_Detect_Filter_Max_Range = 140.88; MB_Bottom_Detect_Filter_Min_Depth = 29.35; MB_Bottom_Detect_Filter_Max_Depth = 140.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305855 meters # Minimum depth: 130.817250 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.817250 meters set by local depth and desired altitude behavior waypoint { latitude = 36.820599; longitude = -121.853755; captureRadius = 10; duration = 62; depth = 80.817250; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.082908 # Altitude Set: 57.082908 # Vehicle Depth:80.81725 # Seafloor Depth:-136.577946 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 137.00; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.54; MB_Bottom_Detect_Filter_Max_Range = 137.00; MB_Bottom_Detect_Filter_Min_Depth = 28.54; MB_Bottom_Detect_Filter_Max_Depth = 137.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305852 meters # Minimum depth: 133.656432 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.656432 meters set by local depth and desired altitude behavior waypoint { latitude = 36.820039; longitude = -121.853704; captureRadius = 10; duration = 62; depth = 83.656432; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.08527 # Altitude Set: 56.08527 # Vehicle Depth:83.656432 # Seafloor Depth:-139.741702 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.60; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.04; MB_Bottom_Detect_Filter_Max_Range = 134.60; MB_Bottom_Detect_Filter_Min_Depth = 28.04; MB_Bottom_Detect_Filter_Max_Depth = 134.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305850 meters # Minimum depth: 136.116388 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.116388 meters set by local depth and desired altitude behavior waypoint { latitude = 36.819479; longitude = -121.853653; captureRadius = 10; duration = 62; depth = 86.116388; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.504308 # Altitude Set: 56.504308 # Vehicle Depth:86.116388 # Seafloor Depth:-142.620696 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.61; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.25; MB_Bottom_Detect_Filter_Max_Range = 135.61; MB_Bottom_Detect_Filter_Min_Depth = 28.25; MB_Bottom_Detect_Filter_Max_Depth = 135.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305847 meters # Minimum depth: 138.946937 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.946937 meters set by local depth and desired altitude behavior waypoint { latitude = 36.818919; longitude = -121.853602; captureRadius = 10; duration = 62; depth = 88.946937; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.504308 # Altitude Set: 56.504308 # Vehicle Depth:88.946937 # Seafloor Depth:-144.916654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.61; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.25; MB_Bottom_Detect_Filter_Max_Range = 135.61; MB_Bottom_Detect_Filter_Min_Depth = 28.25; MB_Bottom_Detect_Filter_Max_Depth = 135.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305845 meters # Minimum depth: 142.493552 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.493552 meters set by local depth and desired altitude behavior waypoint { latitude = 36.818359; longitude = -121.853551; captureRadius = 10; duration = 62; depth = 92.493552; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.969717 # Altitude Set: 55.969717 # Vehicle Depth:92.493552 # Seafloor Depth:-147.416891 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.33; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.98; MB_Bottom_Detect_Filter_Max_Range = 134.33; MB_Bottom_Detect_Filter_Min_Depth = 27.98; MB_Bottom_Detect_Filter_Max_Depth = 134.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305842 meters # Minimum depth: 144.647053 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.647053 meters set by local depth and desired altitude behavior waypoint { latitude = 36.817799; longitude = -121.853500; captureRadius = 10; duration = 62; depth = 94.647053; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.923339 # Altitude Set: 54.923339 # Vehicle Depth:94.647053 # Seafloor Depth:-149.255339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.82; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.46; MB_Bottom_Detect_Filter_Max_Range = 131.82; MB_Bottom_Detect_Filter_Min_Depth = 27.46; MB_Bottom_Detect_Filter_Max_Depth = 131.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305839 meters # Minimum depth: 147.001137 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.001137 meters set by local depth and desired altitude behavior waypoint { latitude = 36.817238; longitude = -121.853449; captureRadius = 10; duration = 62; depth = 97.001137; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.608286 # Altitude Set: 54.608286 # Vehicle Depth:97.001137 # Seafloor Depth:-150.994299 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.06; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.30; MB_Bottom_Detect_Filter_Max_Range = 131.06; MB_Bottom_Detect_Filter_Min_Depth = 27.30; MB_Bottom_Detect_Filter_Max_Depth = 131.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305837 meters # Minimum depth: 148.898177 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.898177 meters set by local depth and desired altitude behavior waypoint { latitude = 36.816678; longitude = -121.853398; captureRadius = 10; duration = 62; depth = 98.898177; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.062616 # Altitude Set: 55.062616 # Vehicle Depth:98.898177 # Seafloor Depth:-153.960793 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.15; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.53; MB_Bottom_Detect_Filter_Max_Range = 132.15; MB_Bottom_Detect_Filter_Min_Depth = 27.53; MB_Bottom_Detect_Filter_Max_Depth = 132.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305834 meters # Minimum depth: 150.994299 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.994299 meters set by local depth and desired altitude behavior waypoint { latitude = 36.816118; longitude = -121.853348; captureRadius = 10; duration = 62; depth = 100.994299; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.546152 # Altitude Set: 55.546152 # Vehicle Depth:100.994299 # Seafloor Depth:-156.540451 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.31; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.77; MB_Bottom_Detect_Filter_Max_Range = 133.31; MB_Bottom_Detect_Filter_Min_Depth = 27.77; MB_Bottom_Detect_Filter_Max_Depth = 133.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305832 meters # Minimum depth: 153.119623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.119623 meters set by local depth and desired altitude behavior waypoint { latitude = 36.815558; longitude = -121.853297; captureRadius = 10; duration = 62; depth = 103.119623; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.993396 # Altitude Set: 56.993396 # Vehicle Depth:103.119623 # Seafloor Depth:-160.113019 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.78; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.50; MB_Bottom_Detect_Filter_Max_Range = 136.78; MB_Bottom_Detect_Filter_Min_Depth = 28.50; MB_Bottom_Detect_Filter_Max_Depth = 136.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305829 meters # Minimum depth: 156.002106 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.002106 meters set by local depth and desired altitude behavior waypoint { latitude = 36.814998; longitude = -121.853246; captureRadius = 10; duration = 62; depth = 106.002106; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.993396 # Altitude Set: 56.993396 # Vehicle Depth:106.002106 # Seafloor Depth:-162.838531 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.78; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.50; MB_Bottom_Detect_Filter_Max_Range = 136.78; MB_Bottom_Detect_Filter_Min_Depth = 28.50; MB_Bottom_Detect_Filter_Max_Depth = 136.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305826 meters # Minimum depth: 158.761867 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.761867 meters set by local depth and desired altitude behavior waypoint { latitude = 36.814438; longitude = -121.853195; captureRadius = 10; duration = 62; depth = 108.761867; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.836425 # Altitude Set: 56.836425 # Vehicle Depth:108.761867 # Seafloor Depth:-165.305850 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.41; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.42; MB_Bottom_Detect_Filter_Max_Range = 136.41; MB_Bottom_Detect_Filter_Min_Depth = 28.42; MB_Bottom_Detect_Filter_Max_Depth = 136.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305824 meters # Minimum depth: 162.116608 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.116608 meters set by local depth and desired altitude behavior waypoint { latitude = 36.813878; longitude = -121.853144; captureRadius = 10; duration = 62; depth = 112.116608; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.543983 # Altitude Set: 56.543983 # Vehicle Depth:112.116608 # Seafloor Depth:-166.915265 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.71; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.27; MB_Bottom_Detect_Filter_Max_Range = 135.71; MB_Bottom_Detect_Filter_Min_Depth = 28.27; MB_Bottom_Detect_Filter_Max_Depth = 135.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305821 meters # Minimum depth: 164.496199 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.496199 meters set by local depth and desired altitude behavior waypoint { latitude = 36.813318; longitude = -121.853093; captureRadius = 10; duration = 62; depth = 114.496199; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.877885 # Altitude Set: 55.877885 # Vehicle Depth:114.496199 # Seafloor Depth:-170.374084 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.11; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.94; MB_Bottom_Detect_Filter_Max_Range = 134.11; MB_Bottom_Detect_Filter_Min_Depth = 27.94; MB_Bottom_Detect_Filter_Max_Depth = 134.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305819 meters # Minimum depth: 166.915265 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.915265 meters set by local depth and desired altitude behavior waypoint { latitude = 36.812758; longitude = -121.853042; captureRadius = 10; duration = 62; depth = 116.915265; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.114928 # Altitude Set: 59.114928 # Vehicle Depth:116.915265 # Seafloor Depth:-176.030193 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 141.88; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.56; MB_Bottom_Detect_Filter_Max_Range = 141.88; MB_Bottom_Detect_Filter_Min_Depth = 29.56; MB_Bottom_Detect_Filter_Max_Depth = 141.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305816 meters # Minimum depth: 169.524048 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.524048 meters set by local depth and desired altitude behavior waypoint { latitude = 36.812198; longitude = -121.852991; captureRadius = 10; duration = 62; depth = 119.524048; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 66.498751 # Altitude Set: 66.498751 # Vehicle Depth:119.524048 # Seafloor Depth:-186.022799 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 159.60; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.25; MB_Bottom_Detect_Filter_Max_Range = 159.60; MB_Bottom_Detect_Filter_Min_Depth = 33.25; MB_Bottom_Detect_Filter_Max_Depth = 159.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305813 meters # Minimum depth: 175.464699 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.464699 meters set by local depth and desired altitude behavior waypoint { latitude = 36.811637; longitude = -121.852940; captureRadius = 10; duration = 62; depth = 125.464699; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 66.498751 # Altitude Set: 66.498751 # Vehicle Depth:125.464699 # Seafloor Depth:-189.920825 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 159.60; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.25; MB_Bottom_Detect_Filter_Max_Range = 159.60; MB_Bottom_Detect_Filter_Min_Depth = 33.25; MB_Bottom_Detect_Filter_Max_Depth = 159.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305811 meters # Minimum depth: 183.097408 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.097408 meters set by local depth and desired altitude behavior waypoint { latitude = 36.811077; longitude = -121.852889; captureRadius = 10; duration = 62; depth = 133.097408; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 64.456126 # Altitude Set: 64.456126 # Vehicle Depth:133.097408 # Seafloor Depth:-189.016018 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 154.69; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 154.69; MB_Bottom_Detect_Filter_Min_Depth = 32.23; MB_Bottom_Detect_Filter_Max_Depth = 154.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305808 meters # Minimum depth: 186.513947 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.513947 meters set by local depth and desired altitude behavior waypoint { latitude = 36.810517; longitude = -121.852838; captureRadius = 10; duration = 62; depth = 136.513947; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.91861 # Altitude Set: 55.91861 # Vehicle Depth:136.513947 # Seafloor Depth:-188.210037 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 134.20; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.96; MB_Bottom_Detect_Filter_Max_Range = 134.20; MB_Bottom_Detect_Filter_Min_Depth = 27.96; MB_Bottom_Detect_Filter_Max_Depth = 134.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305806 meters # Minimum depth: 185.460158 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.460158 meters set by local depth and desired altitude behavior waypoint { latitude = 36.809957; longitude = -121.852787; captureRadius = 10; duration = 62; depth = 135.460158; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.69609 # Altitude Set: 51.69609 # Vehicle Depth:135.460158 # Seafloor Depth:-186.789640 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.07; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 124.07; MB_Bottom_Detect_Filter_Min_Depth = 25.85; MB_Bottom_Detect_Filter_Max_Depth = 124.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305802 meters # Minimum depth: 184.213394 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.213394 meters set by local depth and desired altitude behavior waypoint { latitude = 36.809397; longitude = -121.852736; captureRadius = 10; duration = 62; depth = 134.213394; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.329482 # Altitude Set: 51.329482 # Vehicle Depth:134.213394 # Seafloor Depth:-184.402703 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.19; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 123.19; MB_Bottom_Detect_Filter_Min_Depth = 25.66; MB_Bottom_Detect_Filter_Max_Depth = 123.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305801 meters # Minimum depth: 184.213394 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.213394 meters set by local depth and desired altitude behavior waypoint { latitude = 36.808837; longitude = -121.852686; captureRadius = 10; duration = 62; depth = 134.213394; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.653778 # Altitude Set: 51.653778 # Vehicle Depth:134.213394 # Seafloor Depth:-185.867172 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.97; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 123.97; MB_Bottom_Detect_Filter_Min_Depth = 25.83; MB_Bottom_Detect_Filter_Max_Depth = 123.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305797 meters # Minimum depth: 184.213394 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.213394 meters set by local depth and desired altitude behavior waypoint { latitude = 36.808277; longitude = -121.852635; captureRadius = 10; duration = 62; depth = 134.213394; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.871929 # Altitude Set: 52.871929 # Vehicle Depth:134.213394 # Seafloor Depth:-187.085323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.89; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.44; MB_Bottom_Detect_Filter_Max_Range = 126.89; MB_Bottom_Detect_Filter_Min_Depth = 26.44; MB_Bottom_Detect_Filter_Max_Depth = 126.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305796 meters # Minimum depth: 185.127781 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.127781 meters set by local depth and desired altitude behavior waypoint { latitude = 36.807717; longitude = -121.852584; captureRadius = 10; duration = 62; depth = 135.127781; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.871929 # Altitude Set: 52.871929 # Vehicle Depth:135.127781 # Seafloor Depth:-186.851952 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.89; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.44; MB_Bottom_Detect_Filter_Max_Range = 126.89; MB_Bottom_Detect_Filter_Min_Depth = 26.44; MB_Bottom_Detect_Filter_Max_Depth = 126.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305792 meters # Minimum depth: 186.030502 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.030502 meters set by local depth and desired altitude behavior waypoint { latitude = 36.807157; longitude = -121.852533; captureRadius = 10; duration = 62; depth = 136.030502; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.724171 # Altitude Set: 51.724171 # Vehicle Depth:136.030502 # Seafloor Depth:-187.336791 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.14; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.86; MB_Bottom_Detect_Filter_Max_Range = 124.14; MB_Bottom_Detect_Filter_Min_Depth = 25.86; MB_Bottom_Detect_Filter_Max_Depth = 124.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305790 meters # Minimum depth: 186.030502 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.030502 meters set by local depth and desired altitude behavior waypoint { latitude = 36.806596; longitude = -121.852482; captureRadius = 10; duration = 62; depth = 136.030502; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.26398 # Altitude Set: 53.26398 # Vehicle Depth:136.030502 # Seafloor Depth:-189.294482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.83; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.63; MB_Bottom_Detect_Filter_Max_Range = 127.83; MB_Bottom_Detect_Filter_Min_Depth = 26.63; MB_Bottom_Detect_Filter_Max_Depth = 127.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305787 meters # Minimum depth: 187.266922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.266922 meters set by local depth and desired altitude behavior waypoint { latitude = 36.806036; longitude = -121.852431; captureRadius = 10; duration = 62; depth = 137.266922; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.702852 # Altitude Set: 54.702852 # Vehicle Depth:137.266922 # Seafloor Depth:-191.969774 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.29; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.35; MB_Bottom_Detect_Filter_Max_Range = 131.29; MB_Bottom_Detect_Filter_Min_Depth = 27.35; MB_Bottom_Detect_Filter_Max_Depth = 131.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305785 meters # Minimum depth: 188.216847 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.216847 meters set by local depth and desired altitude behavior waypoint { latitude = 36.805476; longitude = -121.852380; captureRadius = 10; duration = 62; depth = 138.216847; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 62.394219 # Altitude Set: 62.394219 # Vehicle Depth:138.216847 # Seafloor Depth:-200.611066 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 149.75; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 149.75; MB_Bottom_Detect_Filter_Min_Depth = 31.20; MB_Bottom_Detect_Filter_Max_Depth = 149.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305782 meters # Minimum depth: 191.880286 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.880286 meters set by local depth and desired altitude behavior waypoint { latitude = 36.804916; longitude = -121.852329; captureRadius = 10; duration = 62; depth = 141.880286; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.653378 # Altitude Set: 77.653378 # Vehicle Depth:141.880286 # Seafloor Depth:-219.533664 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 186.37; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.83; MB_Bottom_Detect_Filter_Max_Range = 186.37; MB_Bottom_Detect_Filter_Min_Depth = 38.83; MB_Bottom_Detect_Filter_Max_Depth = 186.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305779 meters # Minimum depth: 197.810654 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.810654 meters set by local depth and desired altitude behavior waypoint { latitude = 36.804356; longitude = -121.852278; captureRadius = 10; duration = 62; depth = 147.810654; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.476941 # Altitude Set: 100 # Vehicle Depth:147.810654 # Seafloor Depth:-252.287595 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305777 meters # Minimum depth: 215.481232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.481232 meters set by local depth and desired altitude behavior waypoint { latitude = 36.803796; longitude = -121.852227; captureRadius = 10; duration = 62; depth = 165.481232; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 110.675293 # Altitude Set: 100 # Vehicle Depth:165.481232 # Seafloor Depth:-276.156525 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305774 meters # Minimum depth: 244.072737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 194.072737 meters set by local depth and desired altitude behavior waypoint { latitude = 36.803236; longitude = -121.852176; captureRadius = 10; duration = 62; depth = 194.072737; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 110.675293 # Altitude Set: 100 # Vehicle Depth:194.072737 # Seafloor Depth:-279.994931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305772 meters # Minimum depth: 254.187922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.187922 meters set by local depth and desired altitude behavior waypoint { latitude = 36.802676; longitude = -121.852125; captureRadius = 10; duration = 62; depth = 204.187922; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.922194 # Altitude Set: 85.922194 # Vehicle Depth:204.187922 # Seafloor Depth:-259.066467 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 206.21; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.96; MB_Bottom_Detect_Filter_Max_Range = 206.21; MB_Bottom_Detect_Filter_Min_Depth = 42.96; MB_Bottom_Detect_Filter_Max_Depth = 206.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305769 meters # Minimum depth: 254.187922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.187922 meters set by local depth and desired altitude behavior waypoint { latitude = 36.802116; longitude = -121.852075; captureRadius = 10; duration = 62; depth = 204.187922; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.062439 # Altitude Set: 59.062439 # Vehicle Depth:204.187922 # Seafloor Depth:-263.250361 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 141.75; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.53; MB_Bottom_Detect_Filter_Max_Range = 141.75; MB_Bottom_Detect_Filter_Min_Depth = 29.53; MB_Bottom_Detect_Filter_Max_Depth = 141.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305767 meters # Minimum depth: 254.187922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.187922 meters set by local depth and desired altitude behavior waypoint { latitude = 36.801556; longitude = -121.852024; captureRadius = 10; duration = 62; depth = 204.187922; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.584048 # Altitude Set: 60.584048 # Vehicle Depth:204.187922 # Seafloor Depth:-264.771970 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 145.40; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.29; MB_Bottom_Detect_Filter_Max_Range = 145.40; MB_Bottom_Detect_Filter_Min_Depth = 30.29; MB_Bottom_Detect_Filter_Max_Depth = 145.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305763 meters # Minimum depth: 260.662456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.662456 meters set by local depth and desired altitude behavior waypoint { latitude = 36.800995; longitude = -121.851973; captureRadius = 10; duration = 62; depth = 210.662456; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.584048 # Altitude Set: 60.584048 # Vehicle Depth:210.662456 # Seafloor Depth:-270.465243 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 145.40; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.29; MB_Bottom_Detect_Filter_Max_Range = 145.40; MB_Bottom_Detect_Filter_Min_Depth = 30.29; MB_Bottom_Detect_Filter_Max_Depth = 145.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305762 meters # Minimum depth: 261.554047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.554047 meters set by local depth and desired altitude behavior waypoint { latitude = 36.800435; longitude = -121.851922; captureRadius = 10; duration = 62; depth = 211.554047; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.802787 # Altitude Set: 59.802787 # Vehicle Depth:211.554047 # Seafloor Depth:-263.625225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 143.53; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.90; MB_Bottom_Detect_Filter_Max_Range = 143.53; MB_Bottom_Detect_Filter_Min_Depth = 29.90; MB_Bottom_Detect_Filter_Max_Depth = 143.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305758 meters # Minimum depth: 261.554047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.554047 meters set by local depth and desired altitude behavior waypoint { latitude = 36.799875; longitude = -121.851871; captureRadius = 10; duration = 62; depth = 211.554047; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.518327 # Altitude Set: 53.518327 # Vehicle Depth:211.554047 # Seafloor Depth:-265.072374 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 128.44; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.76; MB_Bottom_Detect_Filter_Max_Range = 128.44; MB_Bottom_Detect_Filter_Min_Depth = 26.76; MB_Bottom_Detect_Filter_Max_Depth = 128.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305756 meters # Minimum depth: 261.554047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.554047 meters set by local depth and desired altitude behavior waypoint { latitude = 36.799315; longitude = -121.851820; captureRadius = 10; duration = 62; depth = 211.554047; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.7713869999999 # Altitude Set: 61.7713869999999 # Vehicle Depth:211.554047 # Seafloor Depth:-273.325434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 148.25; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.89; MB_Bottom_Detect_Filter_Max_Range = 148.25; MB_Bottom_Detect_Filter_Min_Depth = 30.89; MB_Bottom_Detect_Filter_Max_Depth = 148.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305754 meters # Minimum depth: 263.795860 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.795860 meters set by local depth and desired altitude behavior waypoint { latitude = 36.798755; longitude = -121.851769; captureRadius = 10; duration = 62; depth = 213.795860; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 66.422305 # Altitude Set: 66.422305 # Vehicle Depth:213.79586 # Seafloor Depth:-280.218165 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 159.41; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 159.41; MB_Bottom_Detect_Filter_Min_Depth = 33.21; MB_Bottom_Detect_Filter_Max_Depth = 159.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305750 meters # Minimum depth: 271.322687 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 221.322687 meters set by local depth and desired altitude behavior waypoint { latitude = 36.798195; longitude = -121.851718; captureRadius = 10; duration = 62; depth = 221.322687; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 66.422305 # Altitude Set: 66.422305 # Vehicle Depth:221.322687 # Seafloor Depth:-282.404142 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 159.41; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 159.41; MB_Bottom_Detect_Filter_Min_Depth = 33.21; MB_Bottom_Detect_Filter_Max_Depth = 159.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305749 meters # Minimum depth: 279.349590 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.349590 meters set by local depth and desired altitude behavior waypoint { latitude = 36.797635; longitude = -121.851667; captureRadius = 10; duration = 62; depth = 229.349590; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.081455 # Altitude Set: 61.081455 # Vehicle Depth:229.34959 # Seafloor Depth:-289.582969 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 146.60; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 146.60; MB_Bottom_Detect_Filter_Min_Depth = 30.54; MB_Bottom_Detect_Filter_Max_Depth = 146.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305745 meters # Minimum depth: 281.854109 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.854109 meters set by local depth and desired altitude behavior waypoint { latitude = 36.797075; longitude = -121.851616; captureRadius = 10; duration = 62; depth = 231.854109; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.197341 # Altitude Set: 70.197341 # Vehicle Depth:231.854109 # Seafloor Depth:-302.051450 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 168.47; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.10; MB_Bottom_Detect_Filter_Max_Range = 168.47; MB_Bottom_Detect_Filter_Min_Depth = 35.10; MB_Bottom_Detect_Filter_Max_Depth = 168.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305743 meters # Minimum depth: 285.193298 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.193298 meters set by local depth and desired altitude behavior waypoint { latitude = 36.796515; longitude = -121.851565; captureRadius = 10; duration = 62; depth = 235.193298; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.612397 # Altitude Set: 75.612397 # Vehicle Depth:235.193298 # Seafloor Depth:-310.805695 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 181.47; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.81; MB_Bottom_Detect_Filter_Max_Range = 181.47; MB_Bottom_Detect_Filter_Min_Depth = 37.81; MB_Bottom_Detect_Filter_Max_Depth = 181.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305741 meters # Minimum depth: 300.585843 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 250.585843 meters set by local depth and desired altitude behavior waypoint { latitude = 36.795955; longitude = -121.851514; captureRadius = 10; duration = 62; depth = 250.585843; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.612397 # Altitude Set: 75.612397 # Vehicle Depth:250.585843 # Seafloor Depth:-313.869909 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 181.47; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.81; MB_Bottom_Detect_Filter_Max_Range = 181.47; MB_Bottom_Detect_Filter_Min_Depth = 37.81; MB_Bottom_Detect_Filter_Max_Depth = 181.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305737 meters # Minimum depth: 294.262401 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 244.262401 meters set by local depth and desired altitude behavior waypoint { latitude = 36.795394; longitude = -121.851464; captureRadius = 10; duration = 62; depth = 244.262401; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 67.148188 # Altitude Set: 67.148188 # Vehicle Depth:244.262401 # Seafloor Depth:-311.410589 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 161.16; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.57; MB_Bottom_Detect_Filter_Max_Range = 161.16; MB_Bottom_Detect_Filter_Min_Depth = 33.57; MB_Bottom_Detect_Filter_Max_Depth = 161.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305736 meters # Minimum depth: 266.266760 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.266760 meters set by local depth and desired altitude behavior waypoint { latitude = 36.794834; longitude = -121.851413; captureRadius = 10; duration = 62; depth = 216.266760; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.171858 # Altitude Set: 73.171858 # Vehicle Depth:216.26676 # Seafloor Depth:-289.438618 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 175.61; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.59; MB_Bottom_Detect_Filter_Max_Range = 175.61; MB_Bottom_Detect_Filter_Min_Depth = 36.59; MB_Bottom_Detect_Filter_Max_Depth = 175.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305732 meters # Minimum depth: 227.921525 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.921525 meters set by local depth and desired altitude behavior waypoint { latitude = 36.794274; longitude = -121.851362; captureRadius = 10; duration = 62; depth = 177.921525; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.109306 # Altitude Set: 82.109306 # Vehicle Depth:177.921525 # Seafloor Depth:-260.030831 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 197.06; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.05; MB_Bottom_Detect_Filter_Max_Range = 197.06; MB_Bottom_Detect_Filter_Min_Depth = 41.05; MB_Bottom_Detect_Filter_Max_Depth = 197.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305730 meters # Minimum depth: 208.271720 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 158.271720 meters set by local depth and desired altitude behavior waypoint { latitude = 36.793714; longitude = -121.851311; captureRadius = 10; duration = 62; depth = 158.271720; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.109306 # Altitude Set: 82.109306 # Vehicle Depth:158.27172 # Seafloor Depth:-219.067613 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 197.06; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.05; MB_Bottom_Detect_Filter_Max_Range = 197.06; MB_Bottom_Detect_Filter_Min_Depth = 41.05; MB_Bottom_Detect_Filter_Max_Depth = 197.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305727 meters # Minimum depth: 203.724168 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.724168 meters set by local depth and desired altitude behavior waypoint { latitude = 36.793154; longitude = -121.851260; captureRadius = 10; duration = 62; depth = 153.724168; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.795893 # Altitude Set: 60.795893 # Vehicle Depth:153.724168 # Seafloor Depth:-206.734621 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 145.91; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 145.91; MB_Bottom_Detect_Filter_Min_Depth = 30.40; MB_Bottom_Detect_Filter_Max_Depth = 145.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305725 meters # Minimum depth: 203.724168 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.724168 meters set by local depth and desired altitude behavior waypoint { latitude = 36.792594; longitude = -121.851209; captureRadius = 10; duration = 62; depth = 153.724168; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.010453 # Altitude Set: 53.010453 # Vehicle Depth:153.724168 # Seafloor Depth:-204.537786 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.23; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.51; MB_Bottom_Detect_Filter_Max_Range = 127.23; MB_Bottom_Detect_Filter_Min_Depth = 26.51; MB_Bottom_Detect_Filter_Max_Depth = 127.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305722 meters # Minimum depth: 203.724168 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.724168 meters set by local depth and desired altitude behavior waypoint { latitude = 36.792034; longitude = -121.851158; captureRadius = 10; duration = 62; depth = 153.724168; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.925843 # Altitude Set: 53.925843 # Vehicle Depth:153.724168 # Seafloor Depth:-207.650011 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 129.42; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 129.42; MB_Bottom_Detect_Filter_Min_Depth = 26.96; MB_Bottom_Detect_Filter_Max_Depth = 129.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305720 meters # Minimum depth: 203.724168 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.724168 meters set by local depth and desired altitude behavior waypoint { latitude = 36.791474; longitude = -121.851107; captureRadius = 10; duration = 62; depth = 153.724168; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.092697 # Altitude Set: 55.092697 # Vehicle Depth:153.724168 # Seafloor Depth:-208.816865 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.22; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.55; MB_Bottom_Detect_Filter_Max_Range = 132.22; MB_Bottom_Detect_Filter_Min_Depth = 27.55; MB_Bottom_Detect_Filter_Max_Depth = 132.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305717 meters # Minimum depth: 200.678275 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.678275 meters set by local depth and desired altitude behavior waypoint { latitude = 36.790914; longitude = -121.851056; captureRadius = 10; duration = 62; depth = 150.678275; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.092697 # Altitude Set: 55.092697 # Vehicle Depth:150.678275 # Seafloor Depth:-205.420513 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.22; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.55; MB_Bottom_Detect_Filter_Max_Range = 132.22; MB_Bottom_Detect_Filter_Min_Depth = 27.55; MB_Bottom_Detect_Filter_Max_Depth = 132.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305714 meters # Minimum depth: 194.435016 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.435016 meters set by local depth and desired altitude behavior waypoint { latitude = 36.790354; longitude = -121.851005; captureRadius = 10; duration = 62; depth = 144.435016; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.845044 # Altitude Set: 54.845044 # Vehicle Depth:144.435016 # Seafloor Depth:-199.280060 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.63; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.42; MB_Bottom_Detect_Filter_Max_Range = 131.63; MB_Bottom_Detect_Filter_Min_Depth = 27.42; MB_Bottom_Detect_Filter_Max_Depth = 131.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305712 meters # Minimum depth: 190.065890 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.065890 meters set by local depth and desired altitude behavior waypoint { latitude = 36.789793; longitude = -121.850954; captureRadius = 10; duration = 62; depth = 140.065890; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.845044 # Altitude Set: 54.845044 # Vehicle Depth:140.06589 # Seafloor Depth:-193.341225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.63; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.42; MB_Bottom_Detect_Filter_Max_Range = 131.63; MB_Bottom_Detect_Filter_Min_Depth = 27.42; MB_Bottom_Detect_Filter_Max_Depth = 131.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305709 meters # Minimum depth: 187.018954 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.018954 meters set by local depth and desired altitude behavior waypoint { latitude = 36.789233; longitude = -121.850903; captureRadius = 10; duration = 62; depth = 137.018954; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.275335 # Altitude Set: 53.275335 # Vehicle Depth:137.018954 # Seafloor Depth:-188.157071 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 127.86; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.64; MB_Bottom_Detect_Filter_Max_Range = 127.86; MB_Bottom_Detect_Filter_Min_Depth = 26.64; MB_Bottom_Detect_Filter_Max_Depth = 127.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305706 meters # Minimum depth: 181.520623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.520623 meters set by local depth and desired altitude behavior waypoint { latitude = 36.788673; longitude = -121.850852; captureRadius = 10; duration = 62; depth = 131.520623; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.894728 # Altitude Set: 54.894728 # Vehicle Depth:131.520623 # Seafloor Depth:-186.415351 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 131.75; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.45; MB_Bottom_Detect_Filter_Max_Range = 131.75; MB_Bottom_Detect_Filter_Min_Depth = 27.45; MB_Bottom_Detect_Filter_Max_Depth = 131.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305704 meters # Minimum depth: 172.645841 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.645841 meters set by local depth and desired altitude behavior waypoint { latitude = 36.788113; longitude = -121.850802; captureRadius = 10; duration = 62; depth = 122.645841; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.877545 # Altitude Set: 56.877545 # Vehicle Depth:122.645841 # Seafloor Depth:-179.523386 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.51; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.44; MB_Bottom_Detect_Filter_Max_Range = 136.51; MB_Bottom_Detect_Filter_Min_Depth = 28.44; MB_Bottom_Detect_Filter_Max_Depth = 136.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305702 meters # Minimum depth: 164.261923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.261923 meters set by local depth and desired altitude behavior waypoint { latitude = 36.787553; longitude = -121.850751; captureRadius = 10; duration = 62; depth = 114.261923; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.877545 # Altitude Set: 56.877545 # Vehicle Depth:114.261923 # Seafloor Depth:-170.559133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.51; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.44; MB_Bottom_Detect_Filter_Max_Range = 136.51; MB_Bottom_Detect_Filter_Min_Depth = 28.44; MB_Bottom_Detect_Filter_Max_Depth = 136.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305698 meters # Minimum depth: 157.745877 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.745877 meters set by local depth and desired altitude behavior waypoint { latitude = 36.786993; longitude = -121.850700; captureRadius = 10; duration = 62; depth = 107.745877; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.29721 # Altitude Set: 56.29721 # Vehicle Depth:107.745877 # Seafloor Depth:-162.953759 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 135.11; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.15; MB_Bottom_Detect_Filter_Max_Range = 135.11; MB_Bottom_Detect_Filter_Min_Depth = 28.15; MB_Bottom_Detect_Filter_Max_Depth = 135.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305697 meters # Minimum depth: 152.877683 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.877683 meters set by local depth and desired altitude behavior waypoint { latitude = 36.786433; longitude = -121.850649; captureRadius = 10; duration = 62; depth = 102.877683; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.207882 # Altitude Set: 55.207882 # Vehicle Depth:102.877683 # Seafloor Depth:-157.345993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 132.50; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.60; MB_Bottom_Detect_Filter_Max_Range = 132.50; MB_Bottom_Detect_Filter_Min_Depth = 27.60; MB_Bottom_Detect_Filter_Max_Depth = 132.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305693 meters # Minimum depth: 145.365540 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.365540 meters set by local depth and desired altitude behavior waypoint { latitude = 36.785873; longitude = -121.850598; captureRadius = 10; duration = 62; depth = 95.365540; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.473686 # Altitude Set: 55.473686 # Vehicle Depth:95.36554 # Seafloor Depth:-150.839226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 133.14; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.74; MB_Bottom_Detect_Filter_Max_Range = 133.14; MB_Bottom_Detect_Filter_Min_Depth = 27.74; MB_Bottom_Detect_Filter_Max_Depth = 133.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305691 meters # Minimum depth: 129.010032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.010032 meters set by local depth and desired altitude behavior waypoint { latitude = 36.785313; longitude = -121.850547; captureRadius = 10; duration = 62; depth = 79.010032; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 65.01391 # Altitude Set: 65.01391 # Vehicle Depth:79.010032 # Seafloor Depth:-144.023942 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 156.03; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.51; MB_Bottom_Detect_Filter_Max_Range = 156.03; MB_Bottom_Detect_Filter_Min_Depth = 32.51; MB_Bottom_Detect_Filter_Max_Depth = 156.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305688 meters # Minimum depth: 117.023526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.023526 meters set by local depth and desired altitude behavior waypoint { latitude = 36.784753; longitude = -121.850496; captureRadius = 10; duration = 62; depth = 67.023526; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 65.01391 # Altitude Set: 65.01391 # Vehicle Depth:67.023526 # Seafloor Depth:-125.808545 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 156.03; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.51; MB_Bottom_Detect_Filter_Max_Range = 156.03; MB_Bottom_Detect_Filter_Min_Depth = 32.51; MB_Bottom_Detect_Filter_Max_Depth = 156.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305686 meters # Minimum depth: 110.649885 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.649885 meters set by local depth and desired altitude behavior waypoint { latitude = 36.784192; longitude = -121.850445; captureRadius = 10; duration = 62; depth = 60.649885; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.785019 # Altitude Set: 58.785019 # Vehicle Depth:60.649885 # Seafloor Depth:-115.091225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 141.08; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.39; MB_Bottom_Detect_Filter_Max_Range = 141.08; MB_Bottom_Detect_Filter_Min_Depth = 29.39; MB_Bottom_Detect_Filter_Max_Depth = 141.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305683 meters # Minimum depth: 100.033834 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.033834 meters set by local depth and desired altitude behavior waypoint { latitude = 36.783632; longitude = -121.850394; captureRadius = 10; duration = 62; depth = 50.033834; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.39351 # Altitude Set: 59.39351 # Vehicle Depth:50.033834 # Seafloor Depth:-109.427344 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 142.54; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.70; MB_Bottom_Detect_Filter_Max_Range = 142.54; MB_Bottom_Detect_Filter_Min_Depth = 29.70; MB_Bottom_Detect_Filter_Max_Depth = 142.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305681 meters # Minimum depth: 87.708104 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.708104 meters set by local depth and desired altitude behavior waypoint { latitude = 36.783072; longitude = -121.850343; captureRadius = 10; duration = 62; depth = 37.708104; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.39351 # Altitude Set: 59.39351 # Vehicle Depth:37.708104 # Seafloor Depth:-96.454132 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 142.54; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.70; MB_Bottom_Detect_Filter_Max_Range = 142.54; MB_Bottom_Detect_Filter_Min_Depth = 29.70; MB_Bottom_Detect_Filter_Max_Depth = 142.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305677 meters # Minimum depth: 87.708104 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.708104 meters set by local depth and desired altitude behavior waypoint { latitude = 36.782512; longitude = -121.850292; captureRadius = 10; duration = 62; depth = 37.708104; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.746028 # Altitude Set: 58.746028 # Vehicle Depth:37.708104 # Seafloor Depth:-90.210582 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 140.99; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.37; MB_Bottom_Detect_Filter_Max_Range = 140.99; MB_Bottom_Detect_Filter_Min_Depth = 29.37; MB_Bottom_Detect_Filter_Max_Depth = 140.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305676 meters # Minimum depth: 86.978931 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 36.978931 meters set by local depth and desired altitude behavior waypoint { latitude = 36.781952; longitude = -121.850241; captureRadius = 10; duration = 62; depth = 36.978931; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.502478 # Altitude Set: 52.502478 # Vehicle Depth:36.978931 # Seafloor Depth:-88.730886 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 126.01; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 126.01; MB_Bottom_Detect_Filter_Min_Depth = 26.25; MB_Bottom_Detect_Filter_Max_Depth = 126.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305672 meters # Minimum depth: 79.234715 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 29.234715 meters set by local depth and desired altitude behavior waypoint { latitude = 36.781392; longitude = -121.850191; captureRadius = 10; duration = 62; depth = 29.234715; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.988694 # Altitude Set: 56.988694 # Vehicle Depth:29.234715 # Seafloor Depth:-86.223409 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.77; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.49; MB_Bottom_Detect_Filter_Max_Range = 136.77; MB_Bottom_Detect_Filter_Min_Depth = 28.49; MB_Bottom_Detect_Filter_Max_Depth = 136.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305670 meters # Minimum depth: 76.276958 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 26.276958 meters set by local depth and desired altitude behavior waypoint { latitude = 36.780832; longitude = -121.850140; captureRadius = 10; duration = 62; depth = 26.276958; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.988694 # Altitude Set: 56.988694 # Vehicle Depth:26.276958 # Seafloor Depth:-78.494777 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 136.77; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.49; MB_Bottom_Detect_Filter_Max_Range = 136.77; MB_Bottom_Detect_Filter_Min_Depth = 28.49; MB_Bottom_Detect_Filter_Max_Depth = 136.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305668 meters # Minimum depth: 73.753919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 23.753919 meters set by local depth and desired altitude behavior waypoint { latitude = 36.780272; longitude = -121.850089; captureRadius = 10; duration = 62; depth = 23.753919; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.217819 # Altitude Set: 52.217819 # Vehicle Depth:23.753919 # Seafloor Depth:-75.753257 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 125.32; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.11; MB_Bottom_Detect_Filter_Max_Range = 125.32; MB_Bottom_Detect_Filter_Min_Depth = 26.11; MB_Bottom_Detect_Filter_Max_Depth = 125.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305665 meters # Minimum depth: 71.409714 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 21.409714 meters set by local depth and desired altitude behavior waypoint { latitude = 36.779712; longitude = -121.850038; captureRadius = 10; duration = 62; depth = 21.409714; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.050252 # Altitude Set: 52.050252 # Vehicle Depth:21.409714 # Seafloor Depth:-73.459966 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.92; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 124.92; MB_Bottom_Detect_Filter_Min_Depth = 26.03; MB_Bottom_Detect_Filter_Max_Depth = 124.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305662 meters # Minimum depth: 69.105929 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 19.105929 meters set by local depth and desired altitude behavior waypoint { latitude = 36.779151; longitude = -121.849987; captureRadius = 10; duration = 62; depth = 19.105929; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.050252 # Altitude Set: 52.050252 # Vehicle Depth:19.105929 # Seafloor Depth:-70.775344 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.92; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 124.92; MB_Bottom_Detect_Filter_Min_Depth = 26.03; MB_Bottom_Detect_Filter_Max_Depth = 124.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305660 meters # Minimum depth: 67.261753 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 17.261753 meters set by local depth and desired altitude behavior waypoint { latitude = 36.778591; longitude = -121.849936; captureRadius = 10; duration = 62; depth = 17.261753; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.669415 # Altitude Set: 51.669415 # Vehicle Depth:17.261753 # Seafloor Depth:-68.625670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 124.01; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 124.01; MB_Bottom_Detect_Filter_Min_Depth = 25.83; MB_Bottom_Detect_Filter_Max_Depth = 124.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305657 meters # Minimum depth: 65.213189 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 15.213189 meters set by local depth and desired altitude behavior waypoint { latitude = 36.778031; longitude = -121.849885; captureRadius = 10; duration = 62; depth = 15.213189; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.619491 # Altitude Set: 51.619491 # Vehicle Depth:15.213189 # Seafloor Depth:-66.832680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.89; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 123.89; MB_Bottom_Detect_Filter_Min_Depth = 25.81; MB_Bottom_Detect_Filter_Max_Depth = 123.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305654 meters # Minimum depth: 64.039187 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 14.039187 meters set by local depth and desired altitude behavior waypoint { latitude = 36.777471; longitude = -121.849834; captureRadius = 10; duration = 62; depth = 14.039187; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.619491 # Altitude Set: 51.619491 # Vehicle Depth:14.039187 # Seafloor Depth:-64.732380 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 123.89; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 123.89; MB_Bottom_Detect_Filter_Min_Depth = 25.81; MB_Bottom_Detect_Filter_Max_Depth = 123.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305652 meters # Minimum depth: 62.853172 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 12.853172 meters set by local depth and desired altitude behavior waypoint { latitude = 36.776911; longitude = -121.849783; captureRadius = 10; duration = 62; depth = 12.853172; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.739013 # Altitude Set: 50.739013 # Vehicle Depth:12.853172 # Seafloor Depth:-63.592185 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.77; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.37; MB_Bottom_Detect_Filter_Max_Range = 121.77; MB_Bottom_Detect_Filter_Min_Depth = 25.37; MB_Bottom_Detect_Filter_Max_Depth = 121.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305649 meters # Minimum depth: 61.869167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 11.869167 meters set by local depth and desired altitude behavior waypoint { latitude = 36.776351; longitude = -121.849732; captureRadius = 10; duration = 62; depth = 11.869167; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.816865 # Altitude Set: 50.816865 # Vehicle Depth:11.869167 # Seafloor Depth:-62.686032 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.96; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 121.96; MB_Bottom_Detect_Filter_Min_Depth = 25.41; MB_Bottom_Detect_Filter_Max_Depth = 121.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.305647 meters # Minimum depth: 60.743323 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 10.743323 meters set by local depth and desired altitude behavior waypoint { latitude = 36.775791; longitude = -121.849681; captureRadius = 10; duration = 62; depth = 10.743323; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.816865 # Altitude Set: 50.816865 # Vehicle Depth:10.743323 # Seafloor Depth:-61.098536 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 121.96; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 121.96; MB_Bottom_Detect_Filter_Min_Depth = 25.41; MB_Bottom_Detect_Filter_Max_Depth = 121.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 53.998225 meters # Minimum depth: 59.355512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 9.355512 meters set by local depth and desired altitude behavior waypoint { latitude = 36.775231; longitude = -121.849630; captureRadius = 10; duration = 53; depth = 9.355512; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.910778 # Altitude Set: 50.910778 # Vehicle Depth:9.355512 # Seafloor Depth:-60.266290 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 122.19; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 122.19; MB_Bottom_Detect_Filter_Min_Depth = 25.46; MB_Bottom_Detect_Filter_Max_Depth = 122.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Actual Altitude: 50.910778 # Altitude Set: 50.910778 # Vehicle Depth:9.27921 # Seafloor Depth:-59.279210 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 122.19; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 122.19; MB_Bottom_Detect_Filter_Min_Depth = 25.46; MB_Bottom_Detect_Filter_Max_Depth = 122.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 59.279210 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 9.279210 meters set by local depth and desired altitude behavior waypoint { latitude = 36.774745; longitude = -121.849586; captureRadius = 10; duration = 500; depth = 9.279210; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 355.131369; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 355.131369; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on but logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 60.00; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.50; MB_Bottom_Detect_Filter_Max_Range = 60.00; MB_Bottom_Detect_Filter_Min_Depth = 12.50; MB_Bottom_Detect_Filter_Max_Depth = 60.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################